US11413749B2 - Drive unit of an automation component, in particular a gripping, clamping, and changing or pivoting unit - Google Patents

Drive unit of an automation component, in particular a gripping, clamping, and changing or pivoting unit Download PDF

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Publication number
US11413749B2
US11413749B2 US16/617,596 US201816617596A US11413749B2 US 11413749 B2 US11413749 B2 US 11413749B2 US 201816617596 A US201816617596 A US 201816617596A US 11413749 B2 US11413749 B2 US 11413749B2
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Prior art keywords
drive
drive unit
computing device
control unit
automation component
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US16/617,596
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US20200180152A1 (en
Inventor
Ralf Becker
Joern Rastetter
Alexander KUPSCH
Michael Ohlheiser
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Schunk GmbH and Co KG
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Schunk GmbH and Co KG
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Assigned to SCHUNK GMBH & CO. KG SPANN-UND GREIFTECHNIK reassignment SCHUNK GMBH & CO. KG SPANN-UND GREIFTECHNIK ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BECKER, RALF, OHLEISER, MICHAEL, KUPSCH, ALEXANDER, RASTETTER, Joern
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1643—Programme controls characterised by the control loop redundant control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B25J19/066—Redundant equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0426—Programming the control sequence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39466—Hand, gripper, end effector of manipulator

Definitions

  • the invention relates to a drive unit of an automation component, in particular a gripping, clamping, changing, linear or pivoting unit which is arranged in or on a base housing of the automation component and comprises a drive and a control unit.
  • the control unit is used in particular for controlling the drive of the movable parts of the automation component; for example, in a gripping unit, the drive for the base jaws, and in a pivot unit, the drive for the pivot plate.
  • Drive units of an automation component in particular a gripping, clamping, changing, linear or pivoting unit are used in handling and robotics and serve for handling, gripping units, for example, of components and pivot units for pivoting gripping units or gripped components.
  • Linear units are used to move workpieces along a linear axis.
  • Exchange units are used to change workpieces or tools.
  • Clamping units are used for clamping workpieces or workpiece carriers. In particular, clamping units can also be zero-point clamping systems for repeated, position-accurate clamping.
  • Gripping and pivoting units are known from the prior art, which include control units and motor controllers separately formed therefrom.
  • the control unit processes input signals and generates control signals dependent on the input signals.
  • the control signals of the control unit are made available for example via a bus system of a higher-level control, which then controls the motor controller. It is also conceivable that the output signals of the control unit are sent directly to the motor controller via appropriate data lines.
  • the motor controller comprises power electronics for supplying the electric drive with motor current depending on the control signals.
  • the motor controller thus acts directly on the current provided by a current source for energizing the drive.
  • control units with which the electric drive and in particular the position and operating points of the movable parts are controlled due to appropriate programming upon the interposition of the motor controller, are programmed at the lowest programming level and cannot be reprogrammed after their installation, or only with relatively great effort. As a result, such gripping and pivoting units cannot be used flexibly, especially with changing requirements.
  • US 2003/0050735 A1 discloses a safety circuit for a movement-control system, which comprises a control unit (motion controller) and a motor controller (servo amplifier). From US 2014/0081461 A1 a redundant, robotic manipulator is known which drives a field device, for example a motor, via a bus system.
  • a control unit motion controller
  • a motor controller servo amplifier
  • the object of the present invention is to provide the above-mentioned drive units of automation components which remedy the disadvantages mentioned and which can be used in a flexible manner.
  • a drive unit will propose an automation component that can be used in a human-robot cooperation (MKR [HRC]).
  • a drive unit comprising at least one computing device provided with an operating system by means of which programs that are written in a higher programming language or programs which are translated from a higher programming language can run on the computing device.
  • the at least one computing device comprises, for example, a memory on which the operating system is stored and a processor which is designed to execute instructions of the operating system.
  • programs that are written in a higher programming language or programs that are translated from a higher programming language can also be stored on the memory.
  • the processor is designed by means of the instructions of the operating system to execute such programs from the memory on the computing device.
  • common systems based on Windows, Linux or Apple are possible as operating systems.
  • the invention can also be used in a human-robot cooperation (MKR [HRC]), in which case preferably two separate and independently operating computing devices are provided for redundant data processing. This can be used to ensure that required safety levels required for the MKR [HRC] are achieved. All input and output signals can be processed in a diversified manner and/or redundantly by the two computing devices, wherein the two computing devices monitor each other. The mutual monitoring takes place in particular such that the operating states of the two computing devices are known with very high probability, or are known such that they correspond to the values required in the MKR [HRC] standards for “functional safety” and thus a given functional safety can be guaranteed.
  • MKR [HRC] human-robot cooperation
  • the two computing devices form a common evaluation logic or they are followed by a logic device, with which a mutual monitoring and/or with which the adjustment of the redundant output signals of the two computing devices takes place.
  • At least one computing device is designed as a single-board computer, in particular as a mini-PC.
  • a single-board computer is a computer system in which all the electronic components necessary for operation are combined on a single circuit board. Typically, only the power supply is housed separately as a single component.
  • Such single-board computers can be programmed very flexibly, whereby the drive unit can be used flexibly accordingly.
  • the at least one computing device is programmed and set up for direct control, i.e. power supply to the drive without the interposition of a motor controller.
  • the computing device then takes over the function of the motor controller or forms then the motor controller.
  • At least one computing device, and preferably both computing devices thus form the power electronics for the electric drive and supply the electric drive with current and control the drive directly and without the interposition of a separately designed motor controller; i.e. they supply the electric drive directly with the motor current and thus act directly on the current provided by a current source for energizing the drive.
  • control unit no control signals generated by the control unit are then passed on to other power components or higher-level control systems, for example via corresponding control lines or corresponding bus systems for controlling the motor current.
  • the implementation of the motor controller in the computing unit is only possible because the computing unit is set up with a corresponding operating system. Due to the possibility of relatively simple programming of the computing devices, the control and regulation of the drive motor can be changed in a simple manner. Such a change is not possible or is comparatively very difficult in the known prior art, since, on the one hand, the control unit and, on the other hand, the motor controller would have to be reprogrammed at the lowest programming level.
  • the computing devices are preferably part of a control loop and regulate the motor current, in particular depending on the position and/or the operating points of the movable parts or the height of the motor current, and/or control an electric motor brake, for example, depending on corresponding input signals. Since a separate motor controller is eliminated, the structure can be simplified and the number of electronic components to be provided can be reduced.
  • At least one computing device is advantageously set up not only for controlling the drive, but also for maintenance, for data transmission, for diagnosis and/or for programming. Consequently, maintenance intervals can be automatically performed with the computing device.
  • a data transmission for example in a network and a higher-level control, is also conceivable.
  • diagnostic functions can be performed. Due to the programming, it is possible to flexibly adapt all functions to the respective requirements.
  • the at least one computing device has a user interface or can be connected to a user interface.
  • the user interface can preferably be formed by a display, a tablet or a smartphone.
  • the connection with a tablet computer is advantageous, since it is to be provided in particular when a diagnostic evaluation or programming is to take place on site.
  • sensors are provided in or on the automation component, wherein the sensor data generated by the sensors are processed by the at least one computing device, and in the case of human-machine cooperation by the two computing devices.
  • the sensors can be designed as displacement sensors, force measuring sensors, rotary encoder sensors, current measuring sensors, proximity sensors, temperature sensor, humidity sensor and/or as a camera module. Depending on the application and the measured variable to be determined, one or more similar sensors can be used in each case. Of course, further sensors may be provided within the scope of the invention.
  • the at least one computing device can be accommodated within the basic housing or in a mounting housing mounted on the base housing.
  • the provision of mounting housings has the advantage that for different automation components such as in particular gripping units and pivot units, each a similar or identical mounting housing can be used.
  • the aforementioned object is also achieved by an automation component, in particular by a gripping, clamping, changing, linear or pivoting unit, which provides a drive unit according to the invention.
  • the automation component thus represents an embedded system in which the computing device is integrated in the automation component.
  • the computing device assumes in particular monitoring, control or regulating functions and/or is responsible for a form of data or signal processing.
  • FIG. 1 shows a schematic representation of an automation component according to the invention in the form of a gripping unit 10 , as can be used in a human-robot cooperation (MRK [HRC]).
  • FIG. 1 shows a gripping unit 10 according to the invention, said gripping unit having a schematically indicated base housing 12 and a drive unit 14 provided in the base housing 12 comprising a drive 13 in the form of an electric motor.
  • the drive 13 drives a shaft 16 shown schematically, which is movably coupled with two jaws 18 which are arranged to be moved towards and away from each other.
  • a control unit 15 with two computing devices in the form of single-board computers 20 , 22 are provided in the housing 12 .
  • the two single-board computers 20 , 22 are followed by an evaluation unit 24 , which checks the output signals of the single-board computers 20 , 22 for their redundancy.
  • the two single-board computers 20 , 22 are connected to each other via lines 26 for mutual monitoring.
  • the evaluation unit 24 can also be implemented in one of the single-board computers 20 , 22 .
  • a power line 25 is provided, with which the drive 13 is supplied with motor current.
  • the single-board computers 20 , 22 are equipped with a special operating system, which is based for example on Linux and designed to be tamper-proof. Furthermore, the single-board computers 20 , 22 are programmed with programs written in a higher programming language such as C++, according to the respective gripping task.
  • the single-board computers 20 , 22 are programmed and set up for direct control of the drive 13 without the interposition of a motor controller.
  • the single-board computers 20 , 22 thus form the power electronics for the drive 13 and control the motor current for the drive 13 directly, i.e. they act directly on the current provided by a current source (not shown in the figure) for energizing the drive 13 and supply the drive 13 with the respective required engine current.
  • no control signals generated by the single-board computers 20 , 22 are forwarded to other power components or higher-level control systems, for example via the control lines or the bus systems 46 , for activating and energizing the motor current.
  • the gripping unit 10 has force measuring sensors 28 on the jaws 18 , wherein said force measuring sensors 28 measure the gripping force.
  • the force measuring sensors 28 are connected to the two single-board computers 20 , 22 via data lines 30 .
  • the measurement signals of the force measuring sensors 28 are consequently evaluated redundantly by both single-board computers 20 , 22 .
  • On the drive 13 , or on the shaft 16 two encoder sensors 32 are provided, the output signals of which are fed via data lines 34 to the single-board computers 20 , 22 .
  • a sensor in the form of a camera module 36 is provided in the area between the two jaws 18 .
  • the output signals of the camera module 36 are supplied via data lines 38 to the two single-board computers 20 , 22 .
  • a current measuring sensor 40 is provided in the power line 25 , the output signals of which are supplied to the two single-board computers 20 , 22 via the data lines 42 .
  • a temperature sensor For measuring the temperature in the gripping unit 10 , a temperature sensor can also be provided (not shown in the figure), which supplies its output signals to both single-board computers 20 , 22 .
  • further environmental sensors may be provided, which in particular detect the proximity to the gripping device and supply their output signals also to the two single-board computers 20 , 22 .
  • the two single-board computers 20 , 22 evaluate the supplied sensor signals independently. Control signals resulting from an appropriate programming are supplied to the evaluation unit 24 , which carries out the redundancy check and then correspondingly drives the drive unit 14 or a brake 44 provided on the shaft 16 .
  • the two single-board computers 20 , 22 can be accessed via the higher-level control or else via an external tablet.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Artificial Intelligence (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
US16/617,596 2017-05-29 2018-05-23 Drive unit of an automation component, in particular a gripping, clamping, and changing or pivoting unit Active 2039-03-12 US11413749B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102017111651.6A DE102017111651A1 (de) 2017-05-29 2017-05-29 Antriebseinheit einer Automationskomponente, insbesondere einer Greif-, Spann- und Wechsel- oder Schwenkeinheit
DE102017111651.6 2017-05-29
PCT/EP2018/063541 WO2018219744A1 (de) 2017-05-29 2018-05-23 Antriebseinheit einer automationskomponente, insbesondere einer greif-, spann- und wechsel- oder schwenkeinheit

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US20200180152A1 US20200180152A1 (en) 2020-06-11
US11413749B2 true US11413749B2 (en) 2022-08-16

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US (1) US11413749B2 (de)
EP (1) EP3630419A1 (de)
JP (1) JP6970216B2 (de)
DE (1) DE102017111651A1 (de)
WO (1) WO2018219744A1 (de)

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DE102018112361A1 (de) * 2018-05-23 2019-11-28 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Antriebseinheit einer Automationskomponente, insbesondere einer Greif-, Spann- und Wechsel- oder Schwenkeinheit

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EP3630419A1 (de) 2020-04-08
US20200180152A1 (en) 2020-06-11
WO2018219744A1 (de) 2018-12-06
JP2020521643A (ja) 2020-07-27
DE102017111651A1 (de) 2018-11-29
JP6970216B2 (ja) 2021-11-24

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